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US 2025/0050495 A1Published application
Systems, methods, and control modules for controlling grasping by robot systems
AssigneeSanctuary Cognitive Systems Corporation
InventorsSuzanne Gildert, Geordie Rose, Mani Ranjbar
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Abstract
Systems, methods, and control modules for operating robot systems are described. A touch heatmap is generated for an object, indicating at least one touch region for the object. Touch regions indicate regions of an object which are most suitable or most prone to touching when the object is grasped. At least one end effector is controlled in accordance with at least one grasp primitive, to grasp the object in accordance with at least one touch region specified in the touch heatmap.
Claims15
A robot system comprising:
- a robot body having at least one end effector;
- at least one sensor;
- a robot controller including at least one processor and at least one non-transitory processor-readable storage medium storing processor-executable instructions which, when executed by the at least one processor, cause the robot system to:
- capture, by the at least one sensor, sensor data including a representation of an object;
- access, in a library of object models, an object model representation of the object based on the sensor data;
- access a touch heatmap associated with the object model, the touch heatmap indictive of at least one touch region of the object model;
- and
- control, by the robot controller, the at least one end effector to grasp the object based on the at least one touch region of the object model.
5 more elements
Dependencies are inferred from the claim text.